A new style of the central air-conditioning pipe aseptic sampling inspection robotic system with PID controller

摘要：

The indoor air pollution produced by the ventilating system of the central air-conditioning draws many peoples attention. In this paper, a new style of the central air-conditioning pipe aseptic sampling inspection robotic system is developed. The entire system comprises three parts: the caterpillar robot, computer and control box. Through realtime video transferred from cameras on robot, operators can remote control the robot in pipe to move flexibly, sample and high-pressure dust absorption effectively. The integral separation PID improved algorithm applied in the control system makes the robot in pipe travel straight accurately, ensuring the actual speed fluctuation deviation ratio range is in ±5％.

关键词： pipe robot PID integral separation algorithm

作者: Fenghua Lin Dahui Zhang Luping Fang Jidong Bian Hong Zhang

作者单位: College of Biomedical Engineering & Instrument Science,Zhejiang University,Hangzhou,310027,China Biological Sciences and Medical Engineering College ,Southeast University ,Nanjing,210096,China College of Information Engineering,Zhejiang University of Technology,Hangzhou,310023,China

会议类型: 国际会议

会议名称: 2010 Second International Conference on Intelligent Human-Machine Systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

会议地点: 南京

会议语种:英文

页码: 650-653

在线出版日期: 2010-08-26（万方平台首次上网日期，不代表论文的发表时间）